mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.7 KiB
Plaintext
78 lines
2.7 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_althold.pde - init and run calls for althold, flight mode
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*/
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// althold_init - initialise althold controller
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static bool althold_init(bool ignore_checks)
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{
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// initialize vertical speeds and leash lengths
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise altitude target to stopping point
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pos_control.set_target_to_stopping_point_z();
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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static void althold_run()
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{
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int16_t target_roll, target_pitch;
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float target_yaw_rate;
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int16_t target_climb_rate;
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// To-Do: reset altitude target if we're somehow not landed?
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attitude_control.init_targets();
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attitude_control.set_throttle_out(0, false);
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return;
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}
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired lean angles
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// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
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get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
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// check for pilot requested take-off
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if (ap.land_complete && target_climb_rate > 0) {
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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attitude_control.init_targets();
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// move throttle to minimum to keep us on the ground
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attitude_control.set_throttle_out(0, false);
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}else{
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// body-frame rate controller is run directly from 100hz loop
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// call throttle controller
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if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
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// if sonar is ok, use surface tracking
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target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// call position controller
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pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
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pos_control.update_z_controller();
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}
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}
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